points_processor.h
Go to the documentation of this file.
00001 /*
00002  * Copyright 2016 The Cartographer Authors
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *      http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 #ifndef CARTOGRAPHER_IO_POINTS_PROCESSOR_H_
00018 #define CARTOGRAPHER_IO_POINTS_PROCESSOR_H_
00019 
00020 #include <memory>
00021 
00022 #include "cartographer/io/points_batch.h"
00023 
00024 namespace cartographer {
00025 namespace io {
00026 
00027 // A processor in a pipeline. It processes a 'points_batch' and hands it to the
00028 // next processor in the pipeline.
00029 class PointsProcessor {
00030  public:
00031   enum class FlushResult {
00032     kRestartStream,
00033     kFinished,
00034   };
00035 
00036   PointsProcessor() {}
00037   virtual ~PointsProcessor() {}
00038 
00039   PointsProcessor(const PointsProcessor&) = delete;
00040   PointsProcessor& operator=(const PointsProcessor&) = delete;
00041 
00042   // Receive a 'points_batch', process it and pass it on.
00043   virtual void Process(std::unique_ptr<PointsBatch> points_batch) = 0;
00044 
00045   // Some implementations will perform expensive computations and others that do
00046   // multiple passes over the data might ask for restarting the stream.
00047   virtual FlushResult Flush() = 0;
00048 };
00049 
00050 }  // namespace io
00051 }  // namespace cartographer
00052 
00053 #endif  // CARTOGRAPHER_IO_POINTS_PROCESSOR_H_


cartographer
Author(s): The Cartographer Authors
autogenerated on Thu May 9 2019 02:27:35